CKD AX6000MU Series User manual

SMB-75A

INSTRUCTION MANUAL

ABSODEX

AX SERIES

MU TYPE

z Before operating the product, read

this instruction manual without fail.

z Among all, carefully read the

description related to safety.

z Keep this instruction manual in a safe

place so that you can read it at any

time when necessary.

3nd Edition

CKD Corporation

[SMB-75A]

— i —

For safety operation of product

Read before starting operation.

When designing or manufacturing equipment incorporating ABSODEX, check that the mechanism of

the equipment and the electric control for controlling the mechanism assure the safety of the system,

to manufacture safe equipment.

To operate our product safely, selection, operation and handling of the product as well as adequate

maintenance procedures are important.

Be sure to observe the description given under DANGER, WARNING and CAUTION to assure safety

of the equipment.

In addition, any information described in relevant international standards (ISO/IEC), Japanese

Industrial Standards (JIS), and other safety regulations (such as industrial safety and health laws),

must be fully understood beforehand so that designs are in compliance with them.

DANGER: Indicates an imminently hazardous situation which, if not

avoided, will result in death or serious injury.

WARNING:

Indicates a potentially hazardous situation, if not avoided,

could result in death or serious injury.

CAUTION: Indicates a potentially hazardous situation, if not avoided, may

result in minor or moderate injury or ABSODEX and its

peripheral equipment damage.

The word or words that designate a degree or level of safety alerting.

SIGNAL WORD used in this manual is classified into the following three levels in accordance with the

degree of injury or equipment damage.

Utmost care is required for higher degree of SIGNAL WORD.

Even items described under CAUTION may cause serious results. Observe without fail because

these safety precautions are important.

The product specification of a custom product may differ from the description given in this instruction

manual.

Check the specification drawing or the like for each product.

[SMB-75A] — ii —

DANGER: z TURN OFF POWER before mounting or dismounting

connectors as equipment malfunction, damage, and

electrical shock can be caused.

z Do not operate in explosive or fire atmosphere.

WARNING:

z DO NOT TURN the output axis of the actuator exceeding

the speed of 30 rpm as power generation of the actuator

may damage the driver or may cause electrical shock.

z Power off, servo off (including emergency stop and

alarm) with rotational force being applied e.g. by gravity

may cause the actuator to rotate.

Also, if the power is turned off or if servo-off is executed

while the actuator is still rotating, it will not stop rotating

instantly due to inertia.

Operate the actuator in the balanced condition so that

rotational force is not applied for these operations after all

safety aspects are confirmed.

z Keep hands away from the rotating part as sudden

motion may take place during gain adjustments or trial

run. Make sure of the safety in the full revolution of the

actuator before turning it on to adjust.

z Make sure that the safety is assured to operate the

actuator in case the unit is operated from the place

unable to confirm the motion.

z DO NOT TOUCH the actuator and the driver during

operation and even after power is disconnected until it is

cooled down. To prevent burn injury, do not touch the hot

surface.

z Do not step on the actuator or a rotary table or other

moving parts installed on the actuator, during

maintenance work.

z Do not remove devices until the safety is confirmed.

z If the main power is turned on while there is position

deviation, the actuator will rotate according to the

accumulated position deviation.

If the main power and control power are turned on

separately, make sure that ABSODEX is in servo-off state

before turning on power.

z For a while after turning off the main power, electrical

charge accumulated in the capacitor inside the driver can

supply power to the actuator and cause it to rotate.

Confirm safety before carrying on working.

z Be sure to ground the FG terminal of the driver to avoid

malfunction.

[SMB-75A]

— iii —

CAUTION: z The product is supplied for use by the persons who have

proper expertise in electrical or mechanical engineering.

CKD will not be liable for bodily injuries or accident

caused by the use by the people who has no or little

knowledge in electrical and mechanical fields, and by the

people who is not thoroughly trained for using ABSODEX.

z Do not overhaul the actuator unit as original functions

and accuracy may not be restored. This is especially so

with the resolver leading to fatal damage.

z Do not hit the output axis with a hammer or assemble the

actuator with excessive power to maintain the designed

accuracy and performance.

z Actuators and the drivers are not water-proof type. For

using them where water or oil may be splashed, provide a

protective means for the actuator and the driver.

z Use the furnished cable only for connecting the driver to

the actuator. Install the cable so that no excessive

stresses are applied or no physically damage is made to

the cable. Changing the length or the material of the

furnished cable should not be done as performance

function may be lost or malfunction may be caused.

z The full performance is not achieved in the shipment

state. Adjust the gain without fail.

z The coordinates of the actuator position are recognized

when the power is turned on. Be careful to avoid moving

the output axis for several seconds since the power is

turned on.

If there is an external mechanical retention mechanism such

as the brake, stagger the retention mechanism resetting

timing from the power-on timing. If the output axis moves

when the power is turned on, alarm F may be caused.

z To operate with designation of fine angles, periodically

turn at least a full turn to avoid bearing breakage caused

by fretting, etc.

z To perform a dielectric voltage test to mechanical equipment

equipped with ABSODEX, disconnect the power cables

from the ABSODEX driver so that the voltage is not added

to the driver itself. Otherwise failure may be caused.

z When carrying the actuator, do not hold the cable extension.

z The output axis may move from the holding position even

without an external force if the power or servo is turned

off (including emergency stop and alarm) or the torque

limit setting is decreased from the servo-on state

(retention state).

z Frequent repetition of power-on and -off causes

deterioration of elements inside the driver due to in-rush

current. Excessive repetition of power-on and -off will

shorten the service life of the driver.

z If power is to be turned back on after turning it off, wait for

more than 10 seconds after turning off power (and also

make sure actuator output axis has completely stopped)

before turning it back on.

[SMB-75A] — iv —

Terms of warranty

The warranty period and the scope of warranty are described below.

1) Period

The warranty period of the product is one year since the date of delivery.

(However, the period assumes eight hours of operation per day. As well, if the durability limit is

reached within one year, the period to the durability limit is the warranty period.)

2) Scope

If failure is caused in the above warranty period due to poor workmanship of our product, we will

repair the product without charge without delay.

However, the scope of warranty shall not cover the following cases.

➀ Operation under the conditions or in the environment derailing from those specified in the

product specifications

➁ Failure caused by lack of attention or erroneous control

➂ Failure caused by other than the delivered product

➃ Failure caused by operation derailing from the purposes for which the product is designed

➄ Failure caused by modification in the structure, performance, specification or other features

made by other than us after delivery, or failure caused by repairs done by other than our

designated contractor

➅ Loss in our product assembled to your machine or equipment, which would be avoided if your

machine or equipment were provided with general functions, structures or other features

common in the industry

➆ Failure caused by reason that is unforeseeable with technology put into practical use at the time

of delivery

➇ Failure caused by fire, earthquake, flood, lightning, or other acts of God, earth shock, pollution,

salt hazard, gas intoxication, excessive voltage, or other external causes

The warranty mentioned here covers the discrete delivered product. Only the scope of warranty

shall not cover losses induced by the failure of the delivered product.

3) Warranty of product exported outside Japan

➀ We will repair the product sent back to our factory or company or factory designated by us.

Work and cost necessary for transportation shall not be compensated for.

➁ The repaired product will be packed according to the domestic packing specification and

delivered to a designated site inside Japan.

4) Confirmation of compatibility

Customers are responsible for confirming the compatibility of the CKD product with their system,

machine, and device.

5) Others

This warranty terms describe basic items. Priority will be given to specification drawings and

specification sheets if warranty description given on such specification drawings or specification

sheets is different from the warranty terms given herein.

[SMB-75A]

— v —

CONTENTS

ABSODEX

AX SERIES [MU TYPE]

INSTRUCTION MANUAL No. SMB-75A

INTRODUCTION 1

1.UNPACKING

1.1Product Model..........................................................................1-1

1.2Product Configuration..............................................................1-1

2.INSTALLATION

2.1 Actuator Installation.............................................................2-1

2.1.1Installation Environment.....................................................2-6

2.1.2Operating Conditions.........................................................2-6

2.2 Driver Installation.................................................................2-7

2.3 About Cable.........................................................................2-9

2.4 About Brake.......................................................................2-10

3.SYSTEM CONFIGURATION AND WIRING

3.1 System Configuration ..........................................................3-1

3.1.1 System Configuration Example.....................................3-1

3.1.2 List of Peripheral Devices .............................................3-3

3.2 Wiring ..................................................................................3-4

3.2.1 Driver Panel Description ...............................................3-4

3.2.2 Connection to Power and Actuator................................3-5

3.2.3 Connection to Other Terminal Blocks............................3-8

3.2.4 Connecting CN3 (I/O signal).........................................3-9

3.2.5 CN3 (I/O signal) Interface Specification......................3-12

3.2.6 Wiring Example...........................................................3-14

[SMB-75A] — vi —

4.TEST OPERATION

4.1 Test Operation of MU Type Driver (auto tuning)...................4-2

Step 1 Installation and connection check...............................4-3

Step 2 Gain adjustment (auto tuning) ....................................4-5

Step 3 Home position determination....................................4-10

Step 4 Creation of test operation program

and test operation.....................................................4-10

5.HOW TO USE I/O

5.1 Pin Arrangement and Signal Name......................................5-1

5.2 How to Use General I/O Signals..........................................5-5

5.2.1 Program No. Selection Method.....................................5-6

5.2.2 NC Program Execution Method ..................................5-12

5.2.3 Home Positioning Instruction Input .............................5-13

5.2.4 Emergency Stop Input.................................................5-14

5.2.5 Brake Release Input ...................................................5-15

5.2.6 Servo State Output......................................................5-16

5.2.7 Servo-on Input ............................................................5-17

5.2.8 Confirmation Method of Positioning Completion.........5-19

5.2.9 M Code Output Timing................................................5-20

5.2.10 Segment Position Output Timing.................................5-21

5.2.11 Other I/O Signals ........................................................5-22

5.3 Pulse String Input Signals..................................................5-25

5.3.1 Using Pulse String Input Signals.................................5-25

5.3.2 Kinds of Pulse String Input Signals.............................5-26

5.3.3 Instruction Pulse Specifications...................................5-27

5.3.4 Pulse Rate and Rotation Speed..................................5-28

5.4 Encoder Output Function...................................................5-29

5.5 Application Example of I/O Signal......................................5-30

5.5.1 Basic flow of I/O signals..............................................5-30

5.5.2 Key point to program number selection ......................5-31

5.5.3 Restoration Action Procedure after Emergency

Stop.............................................................................5-33

5.5.4 Main Power Supply Sequence....................................5-37

[SMB-75A]

— vii —

6.PROGRAM

6.1 General Description.............................................................6-1

6.2 Operation Mode...................................................................6-2

6.3 NC Program Format ............................................................6-3

6.3.1 Format ..........................................................................6-3

6.3.2 Notes ............................................................................6-3

6.4 Code List .............................................................................6-5

6.5 ABSODEX Status at Power-on Start..................................6-13

6.6 NC Program Example........................................................6-15

7.PARAMETER SETTING

7.1 Parameters and Contents....................................................7-1

7.2 Parameter Setting and References....................................7-11

7.3 Types and Characteristics of Cam Curve ..........................7-13

7.4 Amount of Home Position Offset and Home Positioning

Motion................................................................................7-15

7.5 Precautions for Software Limit...........................................7-16

7.6 Judgment of In-position .....................................................7-18

7.7 Judgment of Positioning Completion .................................7-19

7.8 Correct Setting of PRM 16 (In-position Range) .................7-20

7.9 G101 (Designation of Equal Segment) and Parameters....7-22

7.9.1 Motion of G91A0F

(in case of A0 for incremental instruction)...................7-22

7.9.2 Motion of G91A-1F and G91A1F....................7-23

7-9.3 Motion of M 70............................................................7-24

7.10 Using Filters.......................................................................7-25

7.10.1 Characteristics of Filters .............................................7-25

7.10.2 Filter Switch ................................................................7-26

7.10.3 Q Value of Notch Filter................................................7-26

7.10.4 Example of Filter Setting Using Communication

Codes .........................................................................7-27

7.10.5 Precaution for Use......................................................7-27

7.11 Integral Limiter...................................................................7-28

7.12 Multiplier for Integral Gain..................................................7-28

7.13 Positioning Completion Signal Outputting Time.................7-28

7.14 Controlled Stop upon Alarm Valid/Invalid...........................7-29

7.15 In-position Signal Output Mode .........................................7-30

7.16 Mode Selection of I/O Signal.............................................7-30

[SMB-75A] — viii —

8.APPLICATION EXAMPLES

8.1 Product Type Change..........................................................8-2

8.2 Shortest Route Indexing......................................................8-4

8.3 Caulking...............................................................................8-7

8.4 Pick and Place (oscillation)..................................................8-9

8.5 Indexing table ....................................................................8-12

8.6 Continuous Rotation..........................................................8-15

9.GAIN ADJUSTMENTS

9.1 What is Gain Adjustment? ...................................................9-1

9.2 Gain Adjustment Method .....................................................9-3

9.2.1 Auto tuning function......................................................9-3

9.2.2 Manual Adjustment (manual tuning)..............................9-8

10.ALARMS

10.1 Alarm Display and Description...........................................10-1

10.2 Servo Status for Alarms.....................................................10-6

11.MAINTENANCE AND TROUBLESHOOTING

11.1 Maintenance Inspection.....................................................11-1

11.2 Troubleshooting.................................................................11-2

11.3 System Initializing..............................................................11-6

12.COMMUNICATION FUNCTIONS

12.1 Communication Codes ......................................................12-1

12.1.1 Kinds of Code .............................................................12-1

12.1.2 Communication Codes and Data................................12-1

12.1.3 NC Program Input (L11) and its Return Value.............12-2

12.2 Communication Code List..................................................12-3

12.2.1 Operation Mode Switching..........................................12-3

12.2.2 Motion Instructions......................................................12-4

12.2.3 Data Input and Output.................................................12-5

12.3 Baud Rate..........................................................................12-8

12.4 Communication Methods...................................................12-8

12.4.1 Communication Examples ..........................................12-8

12.4.2 Example of RS-232C Interface Cable Connection

Diagram ......................................................................12-9

[SMB-75A]

— ix —

13.ACTUATOR SPECIFICATIONS

13.1 AX6000M Series................................................................13-1

14.DRIVER SPECIFICATIONS

14.1 General Specifications.......................................................14-1

14.2 Performance Specifications...............................................14-2

14.3 I/O Signal Specifications....................................................14-3

14.4 RS -232C Signal Specifications.........................................14-3

15. SUPPORT FOR EUROPEAN STANDARDS

............................................................................................... 15-1

Created on August 19, 2013

Revised on May 21, 2014

[SMB-75A] — x —

—- MEMO —-

[SMB-75A] — 1 —

INTRODUCTION

Thank you for choosing our ABSODEX.

ABSODEX is a direct drive indexing unit developed to drive intermittently operated turntables or the

like of general industrial assembling machines and testing machines flexibly and accurately.

This instruction manual is exclusively for ABSODEX AX Series MU type driver. It is inapplicable to

other types.

Use a start-up adjustment support tool “AX Tools” for programming and other purposes.

Before starting operation of our product, read through this instruction manual to keep the initial

performance and operate without failures.

y The specifications and appearance given in this instruction manual are subject to change

without notice.

[SMB-75A]

— 2 —

INTRODUCTION

—- MEMO —-

[SMB-75A] — 1-1 —

UNPACKING

１

1. UNPACKING

1.1 Product Model

Check that the delivered product is what you have ordered.

The model number of the product is specified in nameplates on the actuator unit and on the side

panel of the driver.

1.2 Product Configuration

This product consists of the items specified in the table below. Check that all items are delivered

when unpacking for the first time.

Table 1.1 Product Configuration

Name Quantity

1. Actuator unit

2. Driver unit

3. Resolver cable *1, *2

4. Motor cable *1, *2

5. Instruction manual CD-ROM SMB-46

6. Handling Precautions SMB-47

7. Driver accessories

Power supply connector 04JFAT-SBXGF-I [J.S.T. Mfg. Co., Ltd.]

Open tool for power connector J-FAT-OT [J.S.T. Mfg. Co., Ltd.]

I/O signal connector (plug) 10150-3000PE [Sumitomo 3M Limited]

I/O signal connector (shell) 10350-52A0-008 [Sumitomo 3M Limited]

1

Note *1: The accessory cable is a special cable for the driver.

*2: The cable type (standard/movable) and length are the ones selected optionally.

y Cable length (2 to 10m) can be changed by purchasing individual cables.

CAUTION:

z Do not add tension to cables and connectors.

z The standard cable may not be used for applications

accompanying repetitive bending motions.

Use the optional movable cable for such purposes.

z To use a movable cable, fix the cable sheath near the

connector of the actuator unit.

z The cable extension of the AX6000M Series is not a

movable cable.

Fix it at the connector without fail so that it does not

move.

Do not hold the cable extension when lifting the unit.

Do not exert an excessive force. Otherwise a broken

wire will be caused.

[SMB-75A]

— 1-2 —

UNPACKING

１

—- MEMO —-

[SMB-75A] — 2-1 —

INSTALLATION

2

2. INSTALLATION

2.1 Actuator Installation

1) The machine for which ABSODEX is installed should have the maximum rigidity, so that

ABSODEX will perform as designed. This rigidity requirement bases on that relatively low

number of mechanical natural frequency (approximately 200 to 300Hz) of a load machine, and

deck will cause ABSODEX to resonate with the machine and its deck. Make sure that all fixing

bolts of a turntable and the actuator are completely tight to maintain sufficient rigidity.

Fig. 2.1 Actuator Installation

WARNING:

z The part "A" in Fig. 2.1 contains the precision part

(resolver).

DO NOT LOOSEN the bolts in the part "A."

Also do not install parts or apply excessive force

on this part as designed accuracy and function

may be ruined.

z ABSODEX is precision equipment.

DO NOT GIVE SHOCK to the unit and output axis,

or do not assemble with excessive force as

designed accuracy and function may be ruined.

z Make sure that the components are securely

installed before restarting the equipment.

Without

installation base Fix the turntable.

With

installation base Fix the turntable.

Rotating part.

Fixed part

Rotating part.

Fixed part

Fix the actuator.

Part "A".

Fix the actuator.

Fix the installation base.

Part "A". Installation base

[SMB-75A]

— 2-2 —

INSTALLATION

2

2) When ABSODEX can not be directly mounted on a machine, it should be mounted on the deck

of high rigidity.

Bad Good

Example：Mounting with the shafts

Fig. 2.2 Actuator Installation Method

[SMB-75A] — 2-3 —

INSTALLATION

2

3) Anti-vibration Using Dummy Inertia Plate

When sufficient rigidity is not available for a machine, a dummy inertia plate at the nearest

position to the actuator will help reduce resonance with the machine. The following explains the

installation of a dummy inertia plate.

Guideline for the magnitude of a dummy inertia is: Load inertia x (0.2 to 1).

Before Dummy Inertia Installation

Dummy inertia

After Dummy Inertia Installation

Fig. 2.3 Dummy Inertia Installation 1

When extending the output shaft, refer to Table 2.1 "The guideline for the diameter of the

extension shaft."

Table 2.1 The guideline for the diameter of the extension shaft

The length of the extension [mm]

Maximum

output torque

[N･m] 50 100

1.2 Φ35 Φ40

3 Φ35 Φ40

[SMB-75A]

— 2-4 —

INSTALLATION

2

Connections by belts, a gear, a spline, and a key will cause machine rigidity to be reduced. In

such instance, dummy inertia should be assumed to be load inertia x (0.5 to 2). When speed is

reduced using belts or gear, load inertia should be the value converted by the actuator output

axis, and dummy inertia plate should be installed at the actuator side.

Before Dummy Inertia Installation

A

fter Dummy Inertia Installation

Dummy inertia

Gear

Fig. 2.4 Dummy Inertia Installation 2

Before Dummy Inertia Installation After Dummy Inertia Installation

Dummy inertia

Spline

Fig. 2.5 Dummy Inertia Installation 3

z Dummy inertia plate shall be as large as possible within the capacity of the actuator.

[SMB-75A] — 2-5 —

INSTALLATION

2

4) The actuator can be installed horizontally (on the floor or on the ceiling) or vertically

Fig. 2.6 Direction of Installation of Actuator

WARNING:

z Servo off including emergency stop and alarm, and

brake release with rotational force being applied

e.g. by gravity may cause the actuator to rotate.

Operate the actuator in the balanced condition so

that rotational force is not applied for these

operations after all safety aspects are confirmed.

Good Good

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CKD AX6000MU Series User manual

CKD AX6000MU Series User manual

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